On the walking robot Dynarobin a 2D laser scanner should be mounted which
scans the vertical configuration of the terrain in front of the robot. The laser should be
mounted on the rotating axis of a motor in a way which allows the laser to view a larger
scope of the terrain in front of the robot. The implemented program does not need to
view more then 30 degrees. Analysing the data from the sensor the program should detect irregularities in the configuration of the terrain and identify those irregularities that could cause a threat to the stability of the robot (height and distance detection). If necessary, the use of a camera sensor is allowed. In the second phase, a system should be conceived which corrects footposition trajectories with the purpose of avoiding the detected barrier. The system must correct the trajectory length and heigh so that the transition over the obstacle is well-assured.
Success of the program realisation should be measured on the real robot and on a arbitray terrain.